Space debris collection container with rotatable and translatable roll

Abstract

Container for collecting space debris. Space debris ingress through container's openable access port. A barrier deployment mechanism has a rotatable roll of flexible material on a frame assembly. A barrier translation mechanism translates the frame assembly towards or away from the access port to adjust the size of the compartment. When unwound, the roll forms a compartment for containing the space debris within the interior of the container, thus forming an obstruction between the compartment and access port.

Description

SPACE DEBRIS COLLECTION CONTAINER WITH ROTATABLE AND TRANSLATABLE ROLL

[0001] This International Application claims priority from Australian Provisional Patent Application No. 2024900370 titled “An Object Collection Container” filed on 16 February 2024, the contents of which are to be taken as incorporated herein by this reference.TECHNICAL FIELD

[0002] The present disclosure relates generally to an apparatus for collecting one or more debris objects.In one application, the present disclosure relates to an in-orbit apparatus, system and method for collecting and storing multiple space debris objects for recycling or disposal.BACKGROUND

[0003] Space debris are human-made objects within space that serve no function. Examples of space debris include decommissioned or dysfunctional satellites, boosters, break-up fragments, used launch vehicles, or simply nuts and bolts. Each piece of space debris travels at multiple kilometres per second and therefore presents a significant threat to existing space-based infrastructure, such as satellite constellations and space stations, and to spacecraft during the launch phase.

[0004] In 2021, the European Space Agency (ESA) estimated that there were at least 36,500 debris objects in orbit about the Earth that are more than 10 cm wide. For space debris objects larger than 1 mm, that number was estimated as 330 million debris objects. Due to the speed at which space debris objects move in low earth orbit, the impact of even a small debris object can cause significant damage to or destroy space-based infrastructure, resulting in the production of debris fragments. In addition to current space debris proliferation, the risk of “Kessler Syndrome”, in which current space debris creates a self- replicating cascade of orbital space debris is also an emerging possibility.

[0005] Due to the hazard presented by the increasing amount of space debris in orbit, there is an imperative to reduce the threat posed by space debris objects to space-based infrastructure and spacecraft.

[0006] One approach for reducing the threat involves tracking the location of space debris in orbit using complex tracking and logging systems to identify safe “launch windows” or to manoeuvre a spacecraft to avoid colliding with hazardous space debris. However, this approach does not remove the space debris from orbit and is only suitable for tracking space debris which exceeds a certain minimum size, meaning that the threat presented by smaller debris objects is not reduced.

[0007] Another approach for reducing the threat posed by space debris involves using a laser (such as a ground-based or space-based laser) or space vehicle to “nudge” a debris object so as to reposition the debris object into a “safe” orbit. However, this approach also does not remove the debris object entirely.

[0008] Still another approach involves collecting or “catching” a debris object and adjusting its orbit so that it re-enters the Earth’s orbit. To perform this type of debris removal, systems have been developed for capturing a space debris object. Typically, such systems involve sending a space vehicle to capture and 'de-orbit' the space debris object, using a net, harpoon or robotic arm. Once captured, the space vehicle is then deorbited with the captured space debris object, resulting in the destruction of the space vehicle and the space debris object captured therein.

[0009] It would be desirable to provide a reusable system for collecting space debris objects.SUMMARY

[0010] The following presents a simplified summary of one or more aspects of embodiments of the present disclosure in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0011] In general terms, embodiments of the present disclosure relate to a container for collecting one or more space debris objects. In certain embodiments, the container is releasably attached to a host spacecraft, such as a host satellite bus. The container may be released by the host spacecraft after it has collected one or more space debris objects to eject the container into a destructive re-entry trajectory or to transfer the container to, for example, another in-orbit spacecraft for disposal or recycling of a space debris object collected by the container.

[0012] According to a first aspect of the present disclosure, there is provided a container for collecting one or more space debris objects, comprising: an access port which is operable by an actuator to provide an opening through which one or more objects can ingress into an interior of the container; a barrier deployment mechanism for controllably deploying a barrier to form a compartment for containing the one or more objects within the interior, such that, when deployed, the barrier provides an obstruction between the compartment and the access port; and a barrier translation mechanism for controllably translating the barrier towards or away from the access port to adjust the size of the compartment.

[0013] In certain embodiments, the barrier deployment mechanism is configured to deploy a flexible barrier. The flexible barrier may comprise a flexible material, such as a flexible material comprised of one or more of: a flexible film; a flexible grid; a flexible mesh; or a flexible sheet. The barrier deployment mechanism may deploy the flexible barrier from a roll of the flexible material.

[0014] In certain embodiments, when the flexible barrier is deployed, the barrier deployment mechanism may be operated to adjust a tension to the flexible barrier as or after the translation mechanism controllably translates the flexible barrier away from the access port to adjust the size of the compartment barrier.

[0015] The container may have, within the interior, a surface which is arranged opposite the access port such that the translation mechanism controllably translates the barrier away from the access port and towards the opposite surface. In such an embodiment, the translation mechanism may be configured to controllably translate the flexible barrier to secure the debris object between the flexible barrier and the opposite surface. Securing the debris object between the flexible barrier and the opposite surface may involve gripping or compressing the debris object between the flexible barrier and the opposite surface.

[0016] In certain embodiments, the container may further comprise a processing module which is configured to control the barrier deployment mechanism and the translation mechanism. In certain embodiments, the processing module is configured to substantially simultaneously control the barrier deployment mechanism and the translation mechanism.

[0017] In certain embodiments, the container may further comprise one or more sensors for providing one or more sensed signals indicating the presence and / or position of a debris object in the interior of the container. In such an embodiment, the barrier deployment mechanism and / or the translation mechanism may be controlled by the processing module depending on the one or more sensed signals.

[0018] In certain embodiments, the container may further comprise one or more sensors for providing one or more sensed signals indicating at least one characteristic of a debris object in the interior of the container. In such an embodiment, the barrier deployment mechanism and / or the translation mechanism may be controlled by the processing module depending on the one or more sensed signals.

[0019] Yet another aspect of an embodiment of the present disclosure provides a container for collecting at least one space debris object, comprising: an access port which is operable by an actuator to provide an opening through which the at least one space debris object can ingress into an interior of the container; a barrier deployment mechanism comprising a rotatable roll of flexible material supported within the interior, and an upright frame assembly supporting a transverse member connected to a transverseextent of the flexible material, the transverse member being operatively associated with the roll for upward or downward travel such that during downward travel the flexible material is unwound from the roll to at least partially deploy a barrier which provides an obstruction between a compartment in which the at least one space debris object can be located and the access port, and during upward travel the flexible material is wound onto the roll to at least partially retract the barrier; and a barrier translation mechanism which is operatively associated with the roll to controllably translate the upright frame assembly towards or away from the access port.

[0020] Yet another aspect of the present disclosure provides a method of collecting one or more space debris objects, the method comprising: providing a container comprising: an access port which is operatable by an actuator to provide an opening through which one or more objects can ingress into an interior of the container; a barrier deployment mechanism for controllably deploying a barrier to deploy a compartment for containing the one or more objects within the interior, such that, when deployed, the barrier provides an obstruction between the compartment and the access port; and a barrier translation mechanism for controllably translating the barrier towards or away from the access port to adjust the size of the compartment; actuating the access port to provide the opening to allow an object to ingress into the interior of the container determining that an object is located within the interior; actuating the access port to close the opening to contain the object within the interior of the container; controlling the barrier deployment mechanism to deploy the barrier to form the compartment for containing the object within the interior, so the barrier is deployed at a position within the interior to provide an obstruction between the compartment and the access port; and controlling the barrier translation mechanism to controllably translate the barrier away from the access port so as to secure the object in the compartment.

[0021] Still another aspect of an embodiment of the present disclosure provides a method of collecting at least one space debris object, the method comprising: providing a container comprising: an access port which is operatable by an actuator to provide an opening through which the at least one space debris object can ingress into an interior of the container; a barrier deployment mechanism comprising a rotatable roll of flexible material supported within the interior, and an upright frame assembly supporting a transverse member connected to a transverse extent of the flexible material, the transverse memberbeing operatively associated with the roll for upward or downward travel such that during downward travel the flexible material is unwound from the roll to at least partially deploy a barrier which provides an obstruction between a compartment in which the at least one space debris object can be located and the access port, and during upward travel the flexible material is wound onto the roll to at least partially retract the barrier; and a barrier translation mechanism which is operatively associated with the motor driven roll to controllably translate the upright frame assembly towards or away from the access port; at least one processing unit controlling the actuator to open the access port to receive a target space debris object within the interior of the container through the opening; one or more sensors providing one or more sensed signals responsive to sensing the target space debris object within the interior of the container; the at least one processing unit controlling the actuator to close the access port depending on the one or more sensed signals; at least one processing module controlling, depending on the one or more sensed signal, the barrier deployment mechanism to deploy the barrier between the compartment and the access port so that said compartment contains the target space debris object; and the at least one processing module substantially simultaneously controlling the barrier deployment mechanism and the barrier translation mechanism to translate the barrier to secure the target space debris object between the barrier and an interior surface of the container as a collected space debris object.

[0022] According to yet another second aspect, there is provided a system for the collection of one or more space debris objects, comprising: a container according to the first aspect as described above; and a host spacecraft carrying the container.

[0023] In certain embodiments, the system is able to collect one or more debris objects within the container onboard the host spacecraft, after which the host spacecraft may release the container into a destructive re-entry trajectory or to a separate orbit / trajectory for the container to be retrieved and the debris contents to be recycled.

[0024] In certain embodiments, the host spacecraft may be configured to receive replacement containers in-orbit for reuse in future missions to collect more debris objects.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Embodiments of the present disclosure will be discussed with reference to the accompanying drawings wherein:

[0026] Figure 1 is front perspective view of a container according to an embodiment of the present disclosure showing the barrier in a retracted position;

[0027] Figure 2 is front perspective view of a container according to an embodiment of the present disclosure showing the barrier in a partially deployed position;

[0028] Figure 3 is front perspective view of a container according to an embodiment of the present disclosure showing the barrier in a fully deployed position;

[0029] Figure 4 is a cross section of a side view of the container shown in Figures 1 to 3;

[0030] Figure 5 is a front perspective view of a barrier deployment mechanism and a barrier translation mechanism suitable for use with the embodiment of the container shown in Figures 1 to 4, with the barrier shown partially deployed;

[0031] Figure 6 is a rear perspective view of the barrier deployment mechanism and barrier translation mechanism shown in Figure 5;

[0032] Figure 7 is a close-up view of the region shown in a dashed circle in Figure 6;

[0033] Figure 8 is a side view of the barrier deployment mechanism and barrier translation mechanism shown in Figure 5;

[0034] Figure 9 is front perspective view of the container shown in Figures 1 to 4 fitted with external sensors;

[0035] Figure 10 shows an embodiment of a container hosted by a host space craft;

[0036] Figure 11 is a simplified functional block diagram for a container according to an embodiment of the present disclosure;

[0037] Figures 12 to 17 show an example sequence for collecting an object using a container according to an embodiment of the present disclosure;

[0038] Figure 18 is a simplified flow diagram of a method for collecting an object using a container according to an embodiment of the present disclosure;

[0039] Figures 19 to 25 show an example sequence for collecting multiple objects using a container according to an embodiment of the present disclosure; and

[0040] Figure 26 shows a perspective view of a barrier translation mechanism according to another embodiment.

[0041] In the following description, like reference characters designate like or corresponding parts throughout the figures.DESCRIPTION OF EMBODIMENTS

[0042] The detailed description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details. In some instances, well known structures and components are shown in block diagram form in order to avoid obscuring such concepts.

[0043] Several aspects of a container for collecting debris objects and a system including such a container will now be presented with reference to various apparatus and methods. These apparatus and methods will be described in the following detailed description and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as “elements”). Certain elements of the disclosed container and system may be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system.

[0044] Embodiments of the present disclosure generally relate to a container for collecting objects which are supported, suspended or “floating” in a fluid, gaseous medium or vacuum (such as in space). In the examples described below, embodiments of the container will be described in relation to an application which involves collecting one or more “space debris” objects which are suspended or “floating” in space for recycling and / or disposal. In this respect, where used throughout this specification, it is to be understood that the term “space debris” denotes human-made objects in space, such as waste, decommissioned, damaged, or disfunctional space craft (such as satellites), parts or fragments from spacecraft or launch vehicles for spacecraft (such as motors, solar panels, shards, fuel tanks), or associated equipment.

[0045] Before continuing further, although embodiments will be described in relation to an application which involves collecting one or more “space debris” objects, it is possible that certain embodiments of the container may be used to collect other objects in space, or indeed objects which are supported, floating or suspended in other mediums, such as in a gaseous or fluid medium found on or orbiting about, an astronomical body, such as a planet or asteroid. Examples of other such objects include extraterrestrial objects (such as an asteroid or material mined or otherwise extracted from an asteroid), operational satellites or other functional hardware elements which may be collected for recovery, repair and / or servicing. Examples of objects which are supported, floating or suspended in other mediums include objects which are submersed in water (such as subsea objects) which may be collected, for example, for disposal, recovery, repair and and / or servicing.

[0046] As will be described below, embodiments of the container may be used in conjunction with a host vessel or spacecraft which carries the container to an object(s) to be collected by the container. In the below described examples, the host spacecraft will be described in terms of a host “satellite bus” having a suitable propulsion, guidance, communication, power and control sub-systems. However, it is to be appreciated that a different host vessel or spacecraft may be used for different applications. Furthermore, in certain embodiments, the container may include suitable propulsion, guidance and control sub-systems to allow operation without a separate host vessel or spacecraft. It is possible that embodiments of the container and / or the system may be implemented as an autonomous system.

[0047] With reference now to Figures 1 to 4, a container 10 for collecting space debris objects 22 (hereinafter a “debris object”) according to an embodiment comprises an access port 12 which is operatable by an actuator 32 (ref. Figure 4) to provide an opening 20 through which one or more debris objects 22 can ingress into an interior 24 of the container 10, a barrier deployment mechanism 14 (ref. Figure 4) and a barrier translation mechanism 16 (ref. Figure 4) for translating a barrier 18 deployed by the barrier deployment mechanism 14 to enable one or more “space debris” objects 22 to be collected by and secured within an interior 24 of the container 10. With reference to Figure 4, when the barrier 18 is deployed (as is shown in Figure 3), the interior 24 of the container 10 is partitioned into separate compartments 26, 28 with the barrier 18 located to provide an obstruction between the compartment 28 and the access port 12. When so deployed, the barrier translation mechanism 16 may be actuated to translate the barrier 18, and thus the obstruction, towards and / or away from the access port 12 to correspondingly adjust the respective size of compartments 26, 28 depending on the direction of translation.

[0048] As will be explained in more detail below, an advantage of a container 10 according to an embodiment is that once a debris object 22 has been collected within the container 10, the barrier 18 may be deployed to locate the object in compartment 28 and obstruct the collected debris object 22 from the compartment 26. In embodiments, the obstruction may prevent the debris object 22 from escaping from the interior 24 through the access port 12 during, for example, a subsequent object collection process involving the collection of a second (i.e. an additional) debris object. In this respect, an object collection process may involve collecting at least a first debris object 22, and potentially could involve collecting an additional debris object or debris objects after a first debris object(s) 22 has been collected. In either case, the access port 12 is opened during the object collection process to provide access to at least a section of the interior 24 of the container 10 for the debris object 22 to ingress thereinto.

[0049] An additional advantage of one or more embodiments is that once a debris object 22 is located in compartment 28, actuating the barrier translation mechanism 16 to translate the barrier 18 in a direction away from the access port 12 progressively increases the volume of the compartment 26 whilst displacing the collected debris object 22 in a direction away from the access port 12. Increasing the volume of the compartment 26 may assist with collecting an additional debris object(s) during a subsequent collection process.

[0050] Furthermore, during translation of the barrier 18, the barrier 18 may push a collected debris object 22 until the debris object 22 is sandwiched, and thus secured, between the barrier 18 and an opposing surface 30 of the container 10. When so sandwiched, the debris object 22 may be secured in the compartment 28 in a manner which, at least to some extent, holds or grips the debris object 22 in place within the container 10. In the present case, the opposing surface 30 is a rear wall of the container 10. An advantage of securing the debris object 22 at a predetermined position in the container 10 in this way is that it may fix the centre of mass of the container 10 thus allowing for the centre of mass of the container 10 to be located to lessen the effect of collecting a debris object on satellite bus attitude and direction changes.

[0051] Continuing now with reference to Figure 3, the illustrated container 10 has a generally cubic form. However, it is to be appreciated that the shape and / or dimensions of the container 10 may be selected according to the application and / or operational needs. In the illustrated embodiment, the container 10 is of a generally cubic form having H x W x L dimensions of 500 mm x 500 mm x 500 mm. However, although in the present case the container 10 is depicted as having a generally cubic form, it will be appreciated that other forms may be used. Other non-limiting examples of suitable forms include rectangular, cylindrical, and hexagonal forms.

[0052] In the present case, the interior 24 of the container 10 is located within walls 34 which are arranged to form a shell for the container 10. The walls 34, and thus the container shell, may bemanufactured from a material having properties which are suitable for the intended application, such as suitable strength and weight. As shown in Figure 3, there is an equipment area 36 located in a lower section of the container 10. A divide, shown here as a plate 38 (ref. Figure 3), separates the equipment area 36 from the volume of the interior 24 into which the object 22 is able to ingress into.

[0053] The walls 34 of the container shell may have a rigid or semi-rigid construction of a suitable material. One example of a suitable material for forming the container shell is a material having a rigid construction and is a lightweight rigid composite material such as a reinforced composite. Non-limiting examples of reinforced composite materials include a polycarbonate material, and fibre reinforced composite material, such as an aramid fibre (such as Kevlar®) reinforced epoxy composite material, a glass-fibre epoxy composite material, and a glass-fibre reinforced polyester composite material. Other examples of suitable materials for forming a container shell having a rigid construction include metallic materials such as an aluminium alloy, or stainless steel material. Techniques for manufacturing a shell having a rigid construction would be well understood by a skilled person. In certain embodiments, the container 10 is constructed from materials that are susceptible to ablation (i.e., burning-up) in the planet's atmosphere while still having appropriate strength and lightweight properties.

[0054] In certain embodiments, the container shell may comprise a semi-rigid construction involving a rigid frame structure supporting a flexible sheet material thereabouts to form the container walls 34, and thus the shape of the shell. The rigid frame may comprise structural elements (such as elongate structural elements) arranged to support the flexible material thereabouts to provide the structure of the shell. One example of a suitable sheet material is woven Kevlar®. Other suitable materials would be well known to a skilled person.

[0055] In certain embodiments, the container shell comprises a frame structure having frame elements which are joined with joints which are more susceptible to ablation than the frame elements, such that the container 10 disintegrates into multiple pieces during descent, thus accelerating the rate of burn-up.

[0056] With reference now to Figure 4, access port 12 has a panel 21 which is operable to provide an opening 20 through which one or more debris objects 22 can ingress into the interior 24 of the container 10. In the present case, the panel 21 comprises a hinged panel which is operated by the actuator 32 to swing the panel 21 outwardly and inwardly about a hinge(s) (not shown) to thereby open and close the opening 20 of the container 10. When the hinged panel 21 is swung outwardly, unobstructed access to the interior 24 of the container 10 is provided through the opening 20.

[0057] Although in the present case the access port 12 is depicted as comprising a hinged panel 21, in other embodiments different access port configurations may be used. Another example of a suitable access port is a configuration comprising two or more hinged panels which are operable to open and closethe container 10. Yet another example of a suitable access port is a roller type screen which is operable to open and close the container 10. Still another example of a suitable access port is an aperture which is operable to dilate the aperture to open the container 10. Yet another example of a suitable opening is a bifolding arrangement comprising plural panels which are each hingedly connected and operated by an actuator to fold and unfold the plural panels to open and close the container. Other arrangements could also be suitable.

[0058] Continuing now with reference to Figure 4, the illustrated actuator 32 comprises a drive unit 40 which is secured in the equipment area 36 of the container 10 by suitable means. A mechanical linkage 42 extends from the drive unit 40 to a securement 44 on the panel 21. Drive unit 40 receives control signals communicated by a processing module 46 to extend the linkage 42 to swing the panel 21 outwardly about the hinge(s) to an open position (OP) to provide the opening 20 and retract the linkage 42 to swing the panel 21 from the open position to a closed position (CP, as shown in dashed lines) to close the opening 20.

[0059] Before continuing further, it is to be understood that the term “processing module” should be interpreted broadly to encompass a general purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, and so forth. Under some circumstances, a “processor” may refer to an application specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), an on-board computer (OBC) etc. The term “processing module” may refer to a combination of processing devices, e.g., a combination of a digital signal processor (DSP) and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor (DSP) core, or any other such configuration. The function of the processing module will be described in more detail below.

[0060] In the present case, the actuator 32 comprises a linear actuator having a suitable stroke. One example of a suitable linear actuator is a micro linear actuator having a stroke of about 100 mm. As will be appreciated by a skilled addressee, the configuration of actuator 32, at least in terms of its stroke, will depend on the positioning of the securement 44 relative to the drive unit 40 and the amount of extension required to swing the panel 21 outwardly about the hinge(s) to the open position. It is possible that other configurations may be used for the actuator 32. For example, the actuator 32 may comprise a biasing means (not shown), such as a spring, which is biased when the panel 21 is in the open position and which cooperates with the drive unit 40 to return the panel 21 to the closed position when the actuator 32 is controlled by the processing module to swing the panel 21 from the open position to the closed position.

[0061] Although not shown, in some embodiments, one or more locking devices, such as one or more motorised clamps or latches may also be controlled by the processing module to secure the panel 21 in the closed position.

[0062] In the present case, barrier 18 comprises an area of flexible material which has been unwound from a roll 48 and moved downwardly. Although in the present case the barrier 18 comprises an area of flexible material, it is not essential that the barrier 18 be formed from flexible material. In certain embodiments, the barrier 18 may be deployed as an arrangement of at least one rigid or semi-rigid panels, grating, bars, or sheets. One example of a rigid or semi-rigid barrier arrangement comprises plural hingedly connected sectional panels of an elongate rectangular form which are horizontally arranged between parallel upright members. In such embodiments, by means of a suitable barrier deployment mechanism, the sectional panels can be moved to deploy or retract the barrier 18. When so deployed, barrier translation mechanism 16 may be actuated to translate the barrier 18, and thus the obstruction, towards and / or away from the access port 12 to correspondingly adjust the respective size of compartments 26, 28 depending on the direction of translation.

[0063] In the present case, the flexible material comprises a woven fabric (such as aramid fibre fabric) having a light weight, low susceptibility to outgassing, high strength, toughness, and thermal resistance. However, it is possible that other types or forms of flexible material may be used. Other examples of suitable forms of flexible material include a flexible grid, mesh, netting, fabric, sheet, or film which is able to be dispensed or “unwound” from the roll 48 of the flexible material. One example of a suitable flexible film-type material is a mylar film.

[0064] With reference to Figure 8, the roll 48 of flexible material is supported on an axle 50 secured to the container 10 via fixings which permit the roll 48 to rotate to either deploy the flexible material from the roll 48 to deploy the barrier 18 or retract the flexible material onto the roll 48 to retract the barrier 18. As shown in Figure 4, the illustrated roll 48 is located rearwardly relative to the access port 12 to reduce the likelihood of the roll 48 obstructing an object 22 from entering the interior 24 during object collection. In the embodiment described below, the roll 48 will be described as a motor driven roll which is driven for rotation by at least one motor 80 during deployment or retraction of the barrier 18. However, in other embodiments it is possible that the roll 48 could be biased by a suitable biasing means to retract the barrier after it has been deployed. Examples of suitable biasing means include a constant-force spring or spiral torsion spring. Such a configuration would allow the barrier to be deployed and retracted using suitable spring mechanical potential energy.

[0065] In the present case, the roll 48 is housed in a roll housing 52 fixed to the rear of the container 10. Roll housing 52 has a slit 54 (ref. Figure 5) sized to allow the flexible material to be dispensed from and retrieved onto the roll 48 to deploy and retract the barrier 18. In certain embodiments, the roll housing 52and slit 54 are configured and arranged so that the roll 48 of flexible material is substantially enclosed within the roll housing 52 to reduce the risk of debris or foreign objects contacting, and thus potentially interfering with or damaging, the roll 48 of flexible material.

[0066] Figures 5 to 8 depict, in more detail, the barrier deployment mechanism 14 and barrier translation mechanism 16 of the embodiment of the container 10 illustrated in Figures 1 to 4. In the present case, the barrier deployment mechanism 14 comprises the roll 48 (ref. Figure 8) of the flexible material and an upright frame assembly 60. However, it is to be appreciated that other types of barrier deployment mechanisms 14 which are controllable to deploy and retract the barrier 18 may be used.

[0067] In the present case, the upright frame assembly 60 comprises a horizontal guide member 62 which bridges upper lateral ends of the upright frame assembly 60, a transverse member 56 which is connected to and thus operatively associated with a transverse extent (being an edge or end 58) of the flexible material, motors 76, 78, threaded shafts 70, and upright members 68.

[0068] The illustrated guide member 62 comprises a low friction bar which directs flexible material from the roll 48 into alignment with the plane of upright frame assembly 60. The guide member 62 shown here is a freely rotating bar having a reduced diameter compared to the roll 48. Providing a guide member 62 having a reduced diameter compared to diameter of the roll 48 reduces the extent of a protrusion which could potentially interfere with an object collection process compared to locating the roll 48 between the upper section of the upright members 68.

[0069] Transverse member 56 is supported between and able to travel downwardly and upwardly along the upright frame assembly 60 to thereby deploy or retract the barrier 18. However, it will of course be appreciated that different barrier deployment mechanisms may be used, depending on the type of barrier 18. In the depicted arrangement, the transverse member 56 comprises an extrusion having a channel 64 (ref. Figure 8) for receiving the end 58 of the flexible material. The illustrated transverse member 56 has opposite ends 72 which cooperate with threaded shafts 70 of the upright frame assembly 60 to support upward and downward travel of the transverse member 56. This upward and downward travel of the transverse member 56 controls the size of the area of the flexible material forming the barrier 18, in the plane of the upright frame assembly 60.

[0070] In the present case, each threaded drive shaft 70 of the upright frame assembly 60 is supported for rotation by a respective upright member 68. As best shown in Figure 7, opposite ends 72 of the transverse member 56 comprise correspondingly threaded apertures 74 which receive a respective threaded drive shaft 70 of the upright frame assembly 60 with which they cooperate. However, it is also possible that each threaded shaft 70 is a static threaded shaft and the opposite ends 72 of the transverse member 56 cooperate with a respective threaded shaft 70 via a lead nut arrangement. In either case, andas will be described in more detail below, the upright frame assembly 60 is configured to support upward and downward travel of the transverse member 56 to deploy or retract the barrier 18. Furthermore, and as will be described in more detail below, the upright frame assembly 60 is translatable by the barrier translation mechanism 16 towards the access port 12 (and away from the roll 48) and away from the access port 12 (and towards the roll 48) over a range to thereby correspondingly translate the barrier 18.

[0071] Referring now to Figures 5 and 6, motors 76, 78 are coupled to the upright frame assembly 60 by suitable means. In the depicted embodiment, each motor 76, 78 is simultaneously controllable by the processing module 46 (ref. Figure 4) to rotate a respective threaded drive shaft 70 of the upright frame assembly 60 to which it is coupled to drive upward and downward travel of the transverse member 56 to retract or deploy the barrier 18. However, in an embodiment in which the transverse member 56 is connected to a threaded shaft via a lead nut arrangement, upward and downward travel of the transverse member 56 may be driven by a linear lead screw actuator. Furthermore, although the described embodiment involves threaded or “screw” type drives comprising a threaded drive shaft 70 and a threaded aperture configured to drive upward and downward travel of the transverse member 56 to thereby retract or deploy the barrier 18, it is possible that other types of drives may be used. Other non-limiting examples of suitable actuators include a belt drive having a “toothed” belt, a rack and pinion drive, or a linear motor drive.

[0072] In the present case, controlling each motor 76, 78 to rotate the respective threaded shaft 70 causes the ends 72 of transverse member 56 to travel downwardly or upwardly along the threaded shafts 70 of the upright frame assembly 60 in the plane of the upright members 68 to deploy the barrier 18 to a deployed position (as shown in Figure 3) or retract the barrier 18 to a retracted position (as shown in Figure 1). In embodiments, when in the deployed position, the barrier 18 will partition the compartment 26 from compartment 28 to provide an obstruction between the compartment 28 and the access port 12. On the other hand, when the barrier 18 is in the retracted position, as is shown in Figure 1 , no such obstruction will be provided.

[0073] It will be appreciated that motors 76, 78 should be rated to provide the necessary torque capability to rotate the respective threaded driveshaft to deploy and retract the barrier 18. In certain embodiments, a DC motor, such as a DC brushed motor produced by Maxon of Sachseln, Switzerland may be used for motors 76, 78. Processing module 46 may be configured to sense the operating current of the motors 76, 78 when deploying the barrier 18 to detect if the barrier 18 is obstructed. An advantage of using a DC motor is that they have more variable electrical current consumption which makes it easier for the processing module 46 to sense the operating current of the motors 76, 78. However, it is possible that other motor types may be used. One example of another suitable motor type is a stepper motor, such a vacuum rated stepper motors produced by Lin Engineering of Santa Clara California, the United States,

[0074] In the depicted arrangement, the upright frame assembly 60 can be also controllably translated either towards the access port 12 (and away from the roll 48) or away from the access port 12 (and towards to the roll 48) over a translation range which substantially extends between the access port 12 and the roll 48. In this way, the barrier 18 may either be deployed or retracted by the barrier deployment mechanism 14 at a selectable position within the range of translation, or indeed repositioned after deployment. In the present case, and as will be described in more detail below, the positioning, deployment and retraction of the barrier 18 may be controlled by a processing module during an object collection process based on sensed information derived from one or more sensors.

[0075] Continuing now with reference to Figure 6, a motor 80 (shown dashed) may be mechanically coupled to the axle 50, and the roll 48, by suitable means. Although in the present case a single motor 80 is depicted, it will be appreciated that two motors could be used to provide a dual motor arrangement. In a dual motor arrangement, motors of the same type having low or no detent torque would be preferred. In this arrangement, if one motor fails, the other motor can be operated to continue operation of the roll 48. It is possible that each motor of a dual motor arrangement could be located at opposite ends of the roll 48 with mirrored mounting configurations.

[0076] Motor 80 may be controlled to rotate the roll 48 to assist with deploying or retracting the barrier 18, and potentially to apply tension to the barrier 18 when so deployed. In the illustrated embodiment, deploying or retracting the barrier 18 (including potentially during repositioning of the barrier 18) involves controlling the motor 80 in cooperation with motors 76, 78 so that rotation of the threaded shafts 70 of the upright frame assembly 60 is synchronised with rotation of the roll 48. In certain embodiments, motor 80 is the same type of motor as that used for motors 76, 78.

[0077] In the present case, sensors 82, such as limit switches, are provided to detect when the transverse member 56 has travelled to a retracted or deployed extent or limit. The sensors 82 may be monitored by the processing module so that the processing module disengages the motors 76, 78, 80 when the transverse member 56 reaches a required retracted or deployed position. Non-limiting examples of suitable limit switches include the “Microswitch Sealed Switch” range manufactured by Honeywell International Inc. In certain embodiments, the motors 76, 78 are programmed to move the transverse member 56 a set or predetermined distance and the limit switches are provided to disengage the motors 76, 78 and thus interrupt the barrier deployment mechanism, in the event that the motors 76, 78 do not operate correctly. Using the limit switches in this way may reduce the likelihood of damage to the structure by stopping the barrier deployment mechanism once the transverse member 56 reaches the retracted position or deployed position. In other embodiments, motor current sensing (or the measurement of back-EMF signals) could be used alone or in combination with limit switches to detect when the barrier deployment mechanism should be stopped.

[0078] As will be appreciated, measurement of back-EMF of a corresponding linear actuation motor monitors a relationship between the motor's speed and its voltage. Back-EMF is the voltage generated by the motor's rotation, which is proportional to its speed. When the motors are moving freely, the back- EMF signal remains consistent with its speed, and the current drawn by the motor is relatively low, determined primarily by the load and internal resistance. If the actuation system reaches a wall or another obstruction, the motor's rotation will slow down or stop, even though the applied voltage remains constant. This reduction in speed causes a corresponding drop in the back-EMF. Simultaneously, the current drawn by the motor will spike because the motor attempts to overcome the resistance posed by the obstacle. By measuring the back-EMF and comparing it to the expected value for a given voltage, or by detecting a sudden current increase combined with a sharp drop in back-EMF, it can be inferred that the actuator has encountered an obstruction.

[0079] Using measurement of back-EMF relies on real-time monitoring of the motor's electrical characteristics, which can be achieved using a microcontroller or motor driver equipped with voltage and current sensing capabilities. Analysing the behaviour of back-EMF and current may allow the system to reliably detect contact and respond accordingly, such as stopping the motors 76, 78 to prevent damage.

[0080] With reference now to Figures 6 to 8, as described previously, the depicted barrier translation mechanism 16 is configured to controllably translate the barrier 18 towards or away from the access port 12 to adjust the position of the obstruction.

[0081] The illustrated barrier translation mechanism 16 comprises motors 84, 86, and threaded shafts 88 similar to those described above in relation to the upright members 68. In certain embodiments, motors 84, 86 are the same type of motors as those used for motors 76, 78.

[0082] In the present case, each threaded drive shaft 88 is supported for rotation by a suitable frame structure 90 which, in this example, comprises end plates 92 and guide rods 94. End plates 92 are fixed to the container 10 by suitable means to secure the barrier translation mechanism 16, and thus the barrier deployment means 14 within the container 10.

[0083] Each threaded shaft 88 is coupled to a respective motor 84, 86 to rotate the threaded shaft 88 to which it is mechanically coupled. Upright frame assembly 60 has, at its lower end of each side, a plate 96 having a threaded aperture 98 which cooperates with a respective threaded shaft 88 and a second aperture 100 sized to slidably receive a respective guide rod 94 to permit controllable translation of the upright frame assembly 60 comprising the transverse member 56, upright members 68, horizontal guide 62, and motors 76, 78, towards or away from the access port 12 to adjust the forward and rear position of the upright frame assembly 60 and thus the obstruction provided by the barrier 12, when deployed. When translating in this way, each plate 96 travels along the respective threaded shaft 88 and guide rod 94.Although in the present case the barrier translation mechanism 16 uses threaded shafts 88 which cooperate with a respective threaded aperture 98, in other embodiments it is possible that each threaded shaft 88 is a static threaded shaft and the threaded aperture 98 cooperate with a respective threaded shaft 88 via a lead nut arrangement. Furthermore, it is to be appreciated that other types of barrier translation mechanisms which are controllable to translate the barrier 18 towards and away from the access port 12 may be used. Other non-limiting examples of barrier translation mechanisms include a belt drive having a “toothed” belt, a rack and pinion drive, or a linear motor drive.

[0084] Figure 26 shows a front perspective view of another barrier deployment mechanism 16 and barrier translation mechanism 14 suitable for use with the embodiment of the container 10 (ref. Figure 1). In this example, a 3-way gear transmission box 162 is connected to motors 84, 86 with a single linear lead screw 164 that drives the upright frame assembly 60 forward and back along guide rails 94. The benefit of configuration 160 is that if one motor 84, 86 dies, the other one can be switched on and continue operation of the single lead screw.

[0085] Referring now to Figure 6, sensors 102 (such as limit switches) are provided to detect when the upright frame assembly 60 reaches translation limits. These sensors 102 may be monitored by the processing module 46 so that the processing module 46 can disengage the motors 84, 86 when the upright frame assembly 60 reaches a translation limit. Processing module 46 may also be configured to sense the operating current of the motors 84, 86 when translating the upright frame assembly 60 to detect if the upright frame assembly 60 is obstructed. In certain embodiments, the motors 84, 86 are programmed to move the upright frame assembly 60 over a set or predetermined range and the sensors 102 are provided to disengage the motors 84, 86, and thus interrupt the barrier translation mechanism 16, in the event that the motors 84, 86 do not operate correctly. Using sensors 102 in this way may reduce the likelihood of damage to the structure by stopping the barrier translation mechanism 16 once the upright frame assembly 60 reaches a translation limit.

[0086] It is possible that the sensors 102 may comprise sensors for measuring the back-EMF of the motors 84, 86 to determine if the upright frame assembly 60 has reached a translation limit or encountered an obstacle, using an approach similar to that described above in relation to motor 80.

[0087] With reference now to Figure 9, in certain embodiments, one or more internal sensors 104 are arranged to detect the presence and / or position of an object 22 within the interior 24 of the container 10. The one or more internal sensors 104 may comprise optical sensors, infra-red (IR) sensors, inductive sensors, capacitive sensors, photoelectric sensors (such as LED transmitter and receiver pairs) or magnetic sensors. Non-limiting examples of suitable optical sensors include LIDAR sensors and / or image sensors. A non-limiting example of a suitable IR sensor is the Vishay Semiconductor’s “VCNL4100 High Sensitivity Proximity Sensor”. In applications of embodiments of the presentdisclosure which involve collecting one or more debris objects in an environment in which sound waves may propagate, other types of sensors may be used. For example, in an ocean environment, ultrasonic sensors maybe used. In certain embodiments, the one or more sensors 104 may include sensors which are able to generate sensed signals which are monitored or processed by the processing module 46 to determine characteristics of the object 22 within the interior container 10, such as a size and shape of the object 22.

[0088] In certain embodiments, one or more external sensors 106 may be provided to determine characteristics of the object 22 prior to collecting the object 22. The characteristics may include motion related characteristics such as spin rate, velocity, and acceleration, and / or geometric characteristics such as size, shape and volume, and / or feature characteristics such as an object type. The one or more external sensors 106 may include imaging sensors for communicating signals to the processing module 46 for characterising at least one characteristics of the debris object 22, such as its spin-rate and size, to ensure that the debris object 22 is safe to collect and not too large to fit within the container 10. Although Figure 9 shows the external sensors 106 mounted on the container 10, it is possible that the external sensors 106 may be installed on a satellite bus 200 to allow for reusability once the container 10 is ejected from the satellite bus 200.

[0089] Determining characteristics of the debris object 22 may involve the application of machine learning and artificial intelligence techniques involving a convolutional neural network (CNN) which has been trained to characterise motion, geometric characteristics and / or feature characteristics of a debris object 22.

[0090] Non-limiting examples of suitable imaging sensors include a neuromorphic sensor (for example, the Metavision® EVK 4), a depth camera (for example the Luxonis OAK-D Pro), or a traditional optical camera.

[0091] In certain embodiments, the processing module 46 receives signals from the sensors 104 and / or 106, and or a host satellite bus, and control the access port 12, the barrier deployment mechanism 14 and / or the barrier translation mechanism 16 depending on monitoring or processing of the sensed signals.

[0092] Although not illustrated, it is possible that the container 10 could include attitude determination sensors (i.e., location identifying sensors) to transmit location data for the container 10 to a satellite bus via a communications module after release from the satellite bus. An advantage of this arrangement is that it may provide improved situational awareness for monitoring the position of the container 10 once released from the satellite bus.

[0093] Referring now to Figure 11 there is shown a functional block diagram for the above-described embodiment of the container 10. As shown, the processing module 46 communicates with actuator 32, limit switches 82, 102, motors 76, 78, 80, 84, 86 via a motor controller, and internal sensors 84 via suitable interfaces. Motors 76, 78, 80, 84, 86 may include controller electronics which receive control signals from the processing module 46 via a multi-channel motor controller 108 to control the operation of the motors 76, 78, 80, 84, 86. In the illustrated embodiment, a communications interface 110 is provided for communication with the host satellite bus 200, and / or a ground-based terminal, and / or another space craft. Suitable devices for providing the communications interface 110 would be known to a skilled person. There is a power supply module 112 which provides electrical power to the electrical systems of container 10 via a power distribution bus. The power supply module 112 may include a suitable battery or power generation means, such as one or more photovoltaic cells. The power supply module 112 may comprise a power management system for managing and controlling power for the container 10. One example of a power management system is the Starbuck Micro from AAC Clyde Space.

[0094] With reference now to Figure 10, container 10 may be hosted on satellite bus 200 using a suitable payload securing means to provide a system 300. Although in the present case the satellite bus 200 is depicted as hosting a single container 10, in certain embodiments satellite bus 200 may host plural containers 10.

[0095] In the present case, a payload securing means may cooperate with a separation system which is operable to release the container 10 from the satellite bus 200. The container 10 may be released by the satellite bus 200 when the container 10 has collected one or more debris items. As will be described below, releasing the container 10 may involve the satellite bus 200 forcibly ejecting the container 10 into a destructive re-entry trajectory or transferring the container 10 to another spacecraft for transport or recycling. One non-limiting example of a separation system is the “microsatellite deployer system” available from Nanoracks Kaber. It will be appreciated that the selection of a suitable separation system will involve consideration of the mass and size of the container 10 for compatibility with the separation system.

[0096] In certain embodiments, satellite bus 200 comprises power and communication systems for providing power to and communicating with the container 10. The illustrated satellite bus 200 also comprises conventional propulsion and navigation systems for performing positional adjustments during rendezvous manoeuvres. One non-limiting example of a suitable satellite bus 200 is the MP42 satellite bus manufactured by Kongsberg Nano Avionics UAB.

[0097] In the present case, the system 300 comprising the container 10 and satellite bus 200 includes rendezvous, proximity operations and docking sensors (RPOD) external sensors 106, such as the “Argus”camera from Redwire Corporation, or the RPOD module from Obruta Space Solutions to navigate the satellite bus 200 to a debris object 22 for collection. In certain embodiments, the satellite bus 200 may include the one or more external sensors 106 in the form of a first sensor capable of detecting a debris object 22 from long-distance (for example, at more than 1km), and a second sensor capable of detecting the debris object 22 from a shorter-distance (for example, at less than 250m).

[0098] Example 1: Single Object Collection

[0099] An example operation of a system 300 for collecting space debris objects will now be described with reference to Figures 12 to 18.

[0100] Referring initially to Figures 10 and 18, the satellite bus 200 detects and approaches 302 (ref. Figure 18) a target orbiting debris object 22 from behind using a conventional approach technique. Non-limiting examples of conventional approach techniques for rendezvousing and docking with items in space include the “R-Bar Approach”, “V-Bar Approach”, “Z-Bar Approach”. Other approach techniques would be well known by a skilled person.

[0101] In embodiments which employ an “R-Bar” approach technique, the satellite bus 200 moves along a radial vector of the space debris object 22 with a motion which is orthogonal to the orbital velocity of the debris object 22. When directly radially “above” or “below” (depending on whether the satellite bus 200 is approaching the space debris object 22 from “above” or “below”) the debris object 22, the satellite bus 200 engages radial thrusters to close in on the debris object 22. An advantage of using an R-Bar approach is that it provides simplified control (main control effort is only in the radial direction, making it computationally simpler), reduced propellant usage, and lower relative velocities which minimises the risk of collisions and simplifies the docking process. In certain embodiments, the container 10 and / or the satellite bus 200 employs long-range sensors to detect the debris object 22 at distances greater than 1km and transitions to short-range sensors for improved approach accuracy as the satellite bus 200 closes in on the object 22.

[0102] Continuing with reference to Figures 10 and 18, when the debris object 22 is within the field of view 116 (ref. Figure 10) of the external sensors 106, the processing module 46 processes signals from the imaging sensors 110 to characterise 304 (ref. Figure 18) the debris object 22 by, for example, determining its spin-rate and size, to ensure that the debris object 22 is safe to collect and that it does not exceed the size constraints of the container 10.

[0103] Following successful characterisation of the debris object 22, the satellite bus 200 slowly manoeuvres toward the space debris object 22. In the present case, as the satellite bus 200 closes to within a threshold distance of the debris object 22, the processing module 46 actuates the actuator 32 tomove the hinged panel 21 of the access port 12 to the open position at step 305 to provide the opening 20, and the satellite bus 200 aligns itself so that the access port 12 of the container 10 faces the space debris object 22 for the debris object to ingress into the interior 24.

[0104] Satellite bus 200 then continues to manoeuvre 306 towards the space debris object 22 until the internal sensors 104 detect 308 (ref. Figure 18) the presence and position of the debris object 22 within the interior 24 of the container 10, as shown in Figure 14. Once so detected, processing module 46 communicates a signal to the actuator 32 to move the hinged panel 21 to the closed position at step 309 and thus reseal the container 10.

[0105] After the hinged panel 21 has been moved to the closed position, the processing module 46 initiates barrier deployment 310 (ref. Figure 18) by controlling the motors 84, 86 to translate the upright frame assembly 60 of the barrier deployment mechanism 14 towards the access port 12. The motor 80 coupled to the roll 48 is simultaneously operated in synchronisation with the motors 84, 86 so that the flexible material is unwound from the roll 48 at about the same rate that the transverse member 56 travels away from the roll 48. At this point, and as shown in Figure 15, the barrier 18 has not been fully deployed and thus the transverse member 56 is located adjacent to the horizonal guide 62, meaning that substantially the entire interior 24 is accessible for the debris object 22 to ingress into.

[0106] Operating the motor 80 simultaneously and in synchronisation with the motors 84, 86 (and indeed with motors 76, 78 as the transverse member 56 travels downwardly or upwardly during deployment or retraction of the barrier 18) may be performed using any suitable control arrangement. In an embodiment, the speed of the motor 80 is controlled using pulse width modulation (PWM) type control depending on a sensed signal from an encoder associated with the motor 80 which provides realtime feedback. In this configuration, the operating RPM of the motor 80 is determined and compared to a required operating RPM. Adjustments to the PWM control signal are then made depending on the comparison to maintain synchronisation between the motor 80 and the motors 84, 86.

[0107] The required operating RPM of the motor 80 has a relationship with the linear speed of the upright frame assembly 60 generated by the motors 84, 86 and thus with the RPM of the motors 84, 86. The operating RPM of the motors 84, 86 may be determined based on the motor type of the motors 84, 86.

[0108] In embodiments where the motors 84, 86 are stepper motors, the operating RPM of the motors 84, 86 may be determined from a step frequency and steps per revolution. For example, if a stepper motor has 200 steps per revolution and operates at 400 steps per second, its RPM would be 120. Alternatively, in embodiments where the motors 84, 86 are DC motors, an encoder output may be used.For example, if an encoder has 200 encoder counts per revolution and senses 300 encoder counts in Is during operation, then the operating RPM would be 90.

[0109] The operating RPM of the motors 84, 86 can be converted to a linear speed of the upright frame assembly 60 by multiplying the lead of the screw of the threaded shafts 88 by the determined operating RPM of the motors 84, 86. The linear speed of the upright frame assembly 60 may then be converted to a required operating RPM of the roll 48 of flexible material using a relationship between tangential velocity and angular velocity, wherein the tangential velocity (i.e., the linear speed of the upright frame assembly 60) is equal to the product of the radius of the roll 48 of flexible material and angular velocity (measured in RPM), with the angular velocity being the required RPM of the roll 48 of flexible material. The required RPM of the roll 48 of flexible material can then be used as a setpoint.

[0110] During operation of the motor 80, the speed of the motor 80 can be sensed using an encoder which generates pulses as the motor 80 rotates, and the RPM of the motor 80 can be determined in the same way by counting these pulses over a fixed time period.

[0111] To maintain synchronisation, a controller, such as a PID controller continuously calculates a difference between the required and actual operating RPM, and adjust the PWM control signal to the motor 80 accordingly. An advantage of this approach is that the motor 80 can be controlled to compensate for load variations or speed differences, with the required RPM of the motor 80 (as dictated by the RPM of the motors 84, 86) serving as the setpoint, and the sensed RPM of the motor 80, as measured from the encoder, providing the control loop feedback.

[0112] In the present case, and referring now to Figure 16, once the upright frame assembly 60 is positioned adjacent to the access port 12, or at least on the access port 12 side of the debris object 22, motors 76, 78 are controlled by the processing module 46 to rotate the threaded shafts 70 of the upright frame assembly 60 to cause the transverse member 56 to travel downwardly along the threaded shafts 70 of the upright frame assembly 60 in the plane of the upright frame assembly 60 and deploy the barrier 18 to the deployed position. Motors 76, 78 may operate simultaneously and in synchronisation with the motor 80 using the same control method described above for operating the motor 80 simultaneously and in synchronisation with the motors 84, 86.

[0113] The motor 80 coupled to the roll 48 is simultaneously operated in synchronisation with the motors 76, 78 to allow the flexible material to be unwound from the roll 48 at a rate which allows the transverse member 56 to travel downwardly to deploy the barrier 18. When the barrier 18 is fully deployed, as is shown in Figure 16, the interior 24 of the container 10 is partitioned into separate compartments 26, 28 with the barrier 18 located to provide an obstruction between the compartment 28 in which the debris object 22 is located and the access port 12.

[0114] As shown in Figure 17, with the barrier 18 in the deployed position, motors 84, 86 are controlled by the processing module 46 to translate 312 (ref. Figure 18) the upright frame assembly 60, and thus the deployed barrier 18, away from the access port 12 and towards the roll 48, thereby reducing the size of the compartment 28.

[0115] During translation of the barrier 18 away from the access port 12, the motor 80 coupled to the roll 48 is operated in synchronisation with the motors 84, 86 to wind the flexible material onto the roll 48 as the upright frame assembly 60 translates away from the access port 12 and towards the roll 48. In the present case, operating the motor 80 coupled to the roll 48 in synchronisation with motors 84, 86 involves synchronising the motor 80 coupled to the roll 48 and motors 84, 86 to maintain or apply an amount of tension in the barrier 18 as the upright frame assembly 60 (and thus the deployed barrier 18) translates rearwardly. However, it is possible that the motor 80 coupled to the roll 48 and motors 84, 86 may be operated to vary the tension or tightness in the barrier 18 either during translation of the upright frame assembly 60 towards or away from the access port 12 or when the upright frame assembly 60 completes a desired amount of translation. In other words, in certain embodiments the motors 84, 86 may be operated so as to lead or lag the motor 80 coupled to the roll 48 at one or more instances during the translation.

[0116] In either case, during translation of the barrier 18 rearwardly, and as shown in Figure 17, the barrier 18 contacts and pushes the debris object 22 in the direction of the opposing surface 30 of the container until the debris object 22 is sandwiched between the barrier 18 and the opposing surface 30. When so sandwiched, the debris object 22 is secured in the compartment 28 at least to some extent. At this point, the roll motor 80 may be operated to tension the barrier 18 so that the flexible material tightens against the debris object 22 to secure the debris object 22 between the barrier 18 and the opposing surface 30 of the container 10.

[0117] After the container 10 has collected a first debris object 22, the satellite bus 200 may transfer from the current orbit to a new orbit to collect one or more additional debris objects, or it may release the container 10 by activating the separation system to release the container 10.

[0118] Releasing the container 10 may involve configuring the satellite bus 200 to eject the container into a destructive re-entry trajectory or it may involve transferring the container to 10 another in-orbit space craft for disposal or recycling. In the present case, ejecting the container 10 is achieved using a separation system in the form of a spring-loaded ejection mechanism. It will be appreciated that other types of separation systems may be used.

[0119] Example 2: Multiple Object Collection

[0120] With reference now to Figures 19 to 25, in embodiments, collected debris object(s) 22a are able to be secured between the barrier 18 and the opposing surface 30 of the container 10 when the access port 12 is opened to collect one or more additional debris objects 22b within the interior 24.

[0121] An advantage of this approach is that the compartment 26 is kept clear of earlier collected debris object(s) 22a which may collide or interfere with the collection of additional debris objects 22b. Furthermore, securing the earlier collected debris object (s) 22a between the barrier 18 and the opposing surface 30 of the container 10 when the access port 12 is open may reduce the likelihood of an earlier collected debris object(s) 22a escaping from the container 10 during normal motion of the container 10 during an object collection process involving an additional debris object 22b. In one example, collecting an additional debris object comprises:• Satellite bus 200 receiving location information for a new target debris object 22b and completing the necessary orbital transfer towards the target.• Imaging sensor, such as the neuromorphic sensor, providing a sensed signal for characterising the new debris object target 22b, such as by analysing the spin-rate, shape, and size of the debris object target.• Processing module 46 determining whether the new debris object target 22b satisfies the threshold requirements for minimal spin-rate and size. If the threshold requirements are satisfied, processing module 46 instructs the satellite bus 200 to manoeuvre towards the new target debris object 22b.• Controlling the actuator 32 to operate the access port 12 to provide an opening through which the new debris object 22b can ingress into an interior 24 of the container 10 (ref. Figure 19). Continue tracking towards the new target debris object 22b (ref. Figure 20) until internal sensors 104 detect that the new debris object is located inside the container 10.• Controlling the actuator 32 to close the panel 21 (ref. Figure 21) and, once so closed, controlling the barrier deployment mechanism 14 to retract the barrier 18 upwardly (ref. Figure 22).• Controlling the barrier translation mechanism 16 to translate the upright frame assembly 60 towards the access port 12 (ref. Figure 23).• Controlling the barrier deployment mechanism 14 to deploy the barrier 18 downwardly (ref. Figure 24) to provide an obstruction between collected debris object(s) (i.e., the new debris object 22b and earlier collected debris object (s) 22a) and the access port 12.• Controlling the barrier translation mechanism 16 to translate the deployed barrier 18 rearwardly away from the access port 12 until the new debris object 22b is secured at the rear of the container together with the previously collected debris object(s) 22a (ref. Figure 25).

[0122] As is shown in Figure 20, an advantage of certain embodiments is that whilst the access port 12 is open to provide an opening through which the new debris objects can ingress into the interior of the container 10, the previously collected debris object or objects is / are secured behind the barrier 18 whilst the access port 12 is open to permit collection of new debris objects. That is to say, the barrier 18 secures previously collected debris object(s) in the container 10 so as to prevent the previously collected debris object(s) from escaping from the container 10 whilst the access port 12 is opened. After the access port 12 has been closed to contain a collected debris object within the container 10, the barrier 18 is then deployed and translated to secure the collected object within the container 10 together with any previously collected debris objects.

[0123] As is shown in Figure 19, when a debris object 22a is already secured within the container 10, the barrier 18 will already be in a deployed position to secure that debris object 22a. In this case, deploying the barrier 18 to collect a new debris object 22b after the access port 12 has been closed involves retracting the barrier 18 upwardly, translating the upright frame assembly 60 towards the access port 12 to position the upright frame assembly 60 on the access port 12 side of the new debris object, deploying the barrier 18 downwardly, and then translating the deployed barrier 18 rearwardly to secure the new debris object 22b with the previously secured object 22a.

[0124] It will thus be appreciated that a system comprising a container 10 and a satellite bus 200 may be able to collect, secure and store multiple debris objects within the container 10 onboard the satellite bus 200 until the container 10 is full, at which point, the host satellite bus 200 ejects the container 10 into a destructive re-entry trajectory. The satellite bus 200 may be configured to receive replacement containers 10 in-orbit for reuse in future missions to collect more debris objects. In such embodiments, the container 10 may have rigid rails 117 (ref. Figures 9 and 10) along each side that are compatible with the corresponding rail guides on the satellite bus 200 to allow the container 10 to be received and / or ejected in a controlled manner.

[0125] To implement the various features described above, embodiments of the present disclosure can employ various types of hardware and / or software components (modules). For example,different hardware modules may contain various circuits and components necessary to perform the above methods. Also, different software modules (executed by processors and / or other hardware) may contain various codes and protocols necessary to perform the present invention method.

[0126] The functions described herein may be implemented in software or firmware being executed by hardware. The functions may be stored as one or more instructions on a computer-readable medium. The terms “computer-readable medium” or “computer-program product” refer to any tangible storage medium that can be accessed by a computer or a processor. By way of example, and not limitation, a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. It should be noted that a computer-readable medium may be tangible and non-transitory. The term “computer-program product” refers to a computing device or processor in combination with code or instructions (e.g., a “program”) that may be executed, processed or computed by the computing device or processor. As used herein, the term “code” may refer to software, instructions, code or data that is / are executable by a computing device or processor.

[0127] Software or instructions may also be transmitted over a transmission medium via a suitable uplink. For example, if the software is transmitted from a ground based station, terminal, network, or other remote source using. The uplink may support wireless communications, laser, infrared, radio, and microwave based communication.

[0128] The methods disclosed herein comprise one or more steps or actions for achieving the described method. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for proper operation of the method that is being described, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims.

[0129] Further, it should be appreciated that modules and / or other appropriate means for performing the methods and techniques described herein, can be downloaded and / or otherwise obtained by a device. For example, a device may be communicatively coupled to a ground station, ground terminal, or other remote device to facilitate the transfer of means for performing the methods described herein. Alternatively, various methods described herein can be provided via a storage means (e.g., random access memory (RAM), read only memory (ROM), a physical storage medium such as a compact disc (CD) or floppy disk, etc.), such that a device may obtain the various methods upon coupling or providingthe storage means to the device. Moreover, any other suitable technique for providing the methods and techniques described herein to a device can be utilized.

[0130] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that such prior art forms part of the common general knowledge.

[0131] It will be understood that the terms “comprise” and “include” and any of their derivatives (e.g. comprises, comprising, includes, including) as used in this specification, and the claims that follow, is to be taken to be inclusive of features to which the term refers, and is not meant to exclude the presence of any additional features unless otherwise stated or implied.

[0132] It is to be noted that the term “determining” encompasses a wide variety of actions and, therefore, “determining” can include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” can include resolving, selecting, choosing, establishing and the like.

[0133] In some cases, a single embodiment may, for succinctness and / or to assist in understanding the scope of the disclosure, combine multiple features. It is to be understood that in such a case, these multiple features may be provided separately (in separate embodiments), or in any other suitable combination. Alternatively, where separate features are described in separate embodiments, these separate features may be combined into a single embodiment unless otherwise stated or implied. This also applies to the claims which can be recombined in any combination. That is a claim may be amended to include a feature defined in any other claim. Further a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of: a, b, or c” is intended to cover: a, b, c, a-b, a-c, b-c, and a-b-c.

[0134] It will be appreciated by those skilled in the art that the disclosure is not restricted in its use to the particular application or applications described. Neither is the present disclosure restricted in its preferred embodiment with regard to the particular elements and / or features described or depicted herein. It will be appreciated that the disclosure is not limited to the embodiment or embodiments disclosed, but is capable of numerous rearrangements, modifications and substitutions without departing from the scope as set forth and defined by the following claims.

Claims

CLAIMS1. A container (10) for collecting at least one space debris object (22), comprising: an access port (12) which is operable by an actuator (32) to provide an opening (20) through which the at least one space debris object can ingress into an interior (24) of the container (10); a barrier deployment mechanism (14) comprising a rotatable roll (48) of flexible material supported within the interior, and an upright frame assembly (60) supporting a transverse member (56) connected to a transverse extent of the flexible material, the transverse member (56) being operatively associated with the roll (48) for upward or downward travel such that during downward travel the flexible material is unwound from the roll to at least partially deploy a barrier (18) which provides an obstruction between a compartment in which the at least one space debris object can be located and the access port, and during upward travel the flexible material is wound onto the roll to at least partially retract the barrier (18); and a barrier translation mechanism (16) which is operatively associated with the roll (48) to controllably translate the upright frame assembly (60) towards or away from the access port (12).

2. The container according to claim 1 wherein the rotatable roll is a motor driven roll.

3. The container according to claim 2 wherein the barrier translation mechanism is configured to operate in synchronisation with the motor driven roll such that: when the barrier is deployed, translation of the upright frame assembly towards or away from the access port adjusts the size of the compartment; or when the barrier is not deployed, translation of the upright frame assembly towards or away from the access port moves the upright frame assembly to a position within the interior at which the barrier is able to be deployed.

4. The container according to any one of claims 1 to 3 wherein the barrier is deployed between the access port and a surface (30) of the interior which is disposed opposite the access port.

5. The container according to any one of claims 1 to 4 wherein when the barrier is deployed the barrier deployment mechanism is operable to vary a tension applied to the barrier.

6. The container according to claim 4 or 5 when dependent on claim 2 wherein the motor driven roll and the barrier translation mechanism are configured for synchronised operation to translate the barrier towards or away from the surface to adjust the size of the compartment, when the barrier is deployed.

7. The container according to claim 6 wherein the barrier is translatable towards the surface to secure the at least one space debris object between the barrier and the surface.

8. The container according to any one of the preceding claims further comprising: one or more sensors for providing one or more sensed signals indicating the presence and / or position of the least one space debris object in the interior of the container; and one or more processing means for processing the one or more sensed signals to control at least one of: the barrier deployment mechanism; the barrier translation mechanism; and the access port depending on the one or more sensed signals.

9. The container according to any one of claims 1 to 8 further comprising: one or more sensors for providing one or more sensed signals indicating at least one characteristic of a target space debris object which is external to the container; and one or more processing means for processing the one or more sensed signals to determine whether the target space debris object is able to be secured in the container for collection as the collected space debris object.

10. The container according to claim 9 wherein the at least one characteristic of the target space debris object indicated by the one or more sensed signals comprises one or more of: a spin rate; a velocity; an acceleration; or a geometric characteristic.

11. The container according to claim 9 or 10 wherein the at least one processing means is configured to actuate the access port to provide the opening to allow the target debris object to ingress into the interior of the container depending on the at least one characteristic satisfying a threshold condition.

12. A method of collecting at least one space debris object, the method comprising: providing a container (10) comprising: an access port (12) which is operatable by an actuator (32) to provide an opening (20) through which the at least one space debris object can ingress into an interior (24) of the container (10); a barrier deployment mechanism (14) comprising a rotatable roll (48) of flexible material supported within the interior (24), and an upright frame assembly (60) supporting a transverse member (56) disposed along an edge of the flexible material, the transverse member (56) connected to a transverse extent of the flexible material, thetransverse member being operatively associated with the roll (48) for upward or downward travel such that during downward travel the flexible material is unwound from the roll (48) to at least partially deploy a barrier (18) which provides an obstruction between a compartment in which the at least one space debris object can be located and the access port (12), and during upward travel the flexible material is wound onto the roll (48) to at least partially retract the barrier (18); and a barrier translation mechanism (16) which is operatively associated with the roll (48) to controllably translate the upright frame assembly (60) towards or away from the access port (12); at least one processing unit controlling the actuator to open the access port to receive the target space debris object within the interior of the container through the opening; one or more sensors providing one or more sensed signals responsive to sensing the target space debris object within the interior of the container; the at least one processing unit controlling the actuator to close the access port depending on the one or more sensed signals; at least one processing module controlling, depending on the one or more sensed signal, the barrier deployment mechanism to deploy the barrier between the compartment and the access port so that said compartment contains the target space debris object; the at least one processing module substantially simultaneously controlling the barrier deployment mechanism and the barrier translation mechanism to translate the barrier to secure the target space debris object between the barrier and an interior surface of the container as a collected space debris object.

13. The method according to claim 12 comprising, prior to the one or more sensors providing one or more sensed signals responsive to sensing the target space debris object within the interior of the container, manoeuvring the container to locate the target space debris object within the interior of the container via the access port.

14. The method according to claim 13 wherein prior to manoeuvring the container to locate the target space debris object within the interior of the container, the method further comprises: one or more sensors providing one or more sensed signals indicating at least one characteristic of the target space debris object; and the at least one processing module processing the one or more sensed signals to determine whether the target space debris object is able to be secured within the interior of the container.

15. The method according to claim 14 wherein actuating the access port to provide the opening to allow the target space debris object to ingress into the interior of the container depends on the at least one characteristic satisfying a threshold condition.

16. The method according to claims 14 or 15 wherein the at least one characteristic comprises one or more of: a spin rate; a velocity; an acceleration; and / or one or more geometric characteristics.

17. A system for collecting at least one space debris object, the system comprising: a container according to any one of claims 1 to 11 ; a host spacecraft carrying the container.

18. The system according to claim 17 wherein the host spacecraft is configured to detect at least one target space debris objects and manoeuvre the container to locate the at least one target space debris object within the interior of the container via the access port for collection as the at least one space debris object.

19. The system according to claim 17 wherein the container is configured to detect at least one target space debris object and communicate signals to host spacecraft, said signals for manoeuvring the container to locate at least one detected target debris object within the interior of the container via the access port for collection as the at least one space debris object.

20. The system according to any one of claims 17 to 19 wherein the container is releasably attached to the host spacecraft for ejection from the host spacecraft.

21. The system according to any one of claims 17 to 19 wherein the host space craft is configured to release the container to: eject the container into a destructive re-entry trajectory; or transfer the container to another in-orbit spacecraft for disposal or recycling of a space debris object collected by the container.

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